Optional (CHUTE_OPTIONS:1) disarm debore parachute release

ArduPilot · Apr 6, 2024 · 7239f17 · 7239f17
1 parent 01b0e0c
commit 7239f17
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Showing 4 changed files with 13 additions and 12 deletions.
diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
@@ -269,7 +269,6 @@ void Copter::parachute_check()
     }
 
     if (parachute.release_initiated()) {
-        copter.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE);
         return;
     }
 
@@ -331,9 +330,6 @@ void Copter::parachute_check()
 // parachute_release - trigger the release of the parachute, disarm the motors and notify the user
 void Copter::parachute_release()
 {
-    // disarm motors
-    arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE);
-
     // release parachute
     parachute.release();
 

diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
@@ -140,8 +140,6 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
         if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
 #if PARACHUTE == ENABLED
             parachute_release();
-            //stop motors to avoid parachute tangling
-            plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
 #endif
         } else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
             set_mode(mode_fbwa, reason);
@@ -191,8 +189,6 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
         if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
 #if PARACHUTE == ENABLED
             parachute_release();
-            //stop motors to avoid parachute tangling
-            plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
 #endif
         } else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
             set_mode(mode_fbwa, reason);

diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -10,6 +10,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_Arming/AP_Arming.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -65,7 +66,7 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
     // @Increment: 1
     // @User: Standard
     AP_GROUPINFO("DELAY_MS", 5, AP_Parachute, _delay_ms, AP_PARACHUTE_RELEASE_DELAY_MS),
-    
+
     // @Param: CRT_SINK
     // @DisplayName: Critical sink speed rate in m/s to trigger emergency parachute
     // @Description: Release parachute when critical sink rate is reached
@@ -78,9 +79,9 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: Parachute options
     // @Description: Optional behaviour for parachute
-    // @Bitmask: 0:hold open forever after release
+    // @Bitmask: 0:hold open forever after release,1:skip disarm before parachute release
     // @User: Standard
-    AP_GROUPINFO("OPTIONS", 7, AP_Parachute, _options, 0),
+    AP_GROUPINFO("OPTIONS", 7, AP_Parachute, _options, AP_PARACHUTE_OPTIONS_DEFAULT),
 
     AP_GROUPEND
 };
@@ -107,6 +108,12 @@ void AP_Parachute::release()
     GCS_SEND_TEXT(MAV_SEVERITY_INFO,"Parachute: Released");
     LOGGER_WRITE_EVENT(LogEvent::PARACHUTE_RELEASED);
 
+    bool need_disarm = (_options.get() & uint32_t(Options::SkipDisarmBeforeParachuteRelease)) == 0;
+    if (need_disarm) {
+        // stop motors to avoid parachute tangling
+        AP::arming().disarm(AP_Arming::Method::PARACHUTE_RELEASE);
+    }
+
     // set release time to current system time
     if (_release_time == 0) {
         _release_time = AP_HAL::millis();

diff --git a/libraries/AP_Parachute/AP_Parachute.h b/libraries/AP_Parachute/AP_Parachute.h
@@ -19,7 +19,8 @@
 
 #define AP_PARACHUTE_ALT_MIN_DEFAULT            10     // default min altitude the vehicle should have before parachute is released
 
-#define AP_PARACHUTE_CRITICAL_SINK_DEFAULT      0    // default critical sink speed in m/s to trigger emergency parachute
+#define AP_PARACHUTE_CRITICAL_SINK_DEFAULT      0      // default critical sink speed in m/s to trigger emergency parachute
+#define AP_PARACHUTE_OPTIONS_DEFAULT            0      // default parachute options: enabled disarm after parachute release
 
 #ifndef HAL_PARACHUTE_ENABLED
 // default to parachute enabled to match previous configs
@@ -115,6 +116,7 @@ class AP_Parachute {
 
     enum class Options : uint8_t {
         HoldOpen = (1U<<0),
+        SkipDisarmBeforeParachuteRelease = (1U<<1),
     };
 
     AP_Int32    _options;